Workpiece treating apparatus and method of treating same

ABSTRACT

An apparatus and methods are provided for treating a workpiece such as a shoe component. The workpiece treating apparatus preferably includes a transporter for transporting a workpiece along a predetermined path of travel and a storage device for storing a plurality of predetermined parameters of each of a plurality of workpieces. A workpiece identifier is positioned responsive to the storage device for identifying the workpiece during travel along the predetermined path. A workpiece treatment applicator is positioned adjacent the transporter and responsive to the workpiece identifier for applying a treatment a workpiece being transported along the predetermined path of travel. A workpiece treatment position determiner preferably is positioned responsive to the workpiece identifier for continuously determining the position of the workpiece treatment applicator along a predetermined trajectory during treatment of the workpiece.

FIELD OF THE INVENTION

The present invention relates to the field of product manufacturing and,more particularly, to the manufacturing of a plurality of products suchas in an assembly operation.

BACKGROUND OF THE INVENTION

Over the years, a variety of systems have been developed for trackingand treating components of products during manufacture of the productssuch as in an assembly operation. These workpiece tracking and treatingsystems include, for example, component assembly, bonding, surfaceroughing, trimming, shaping, cutting, and adhesive applying in the shoemanufacturing process. Some examples of such systems in the shoemanufacturing industry can be seen in Japanese Patent Document 5-337002by Reader et al. titled "Bonding Method In Shoe Manufacturing MachineAnd Bonding Machine For Practicing The Method," U.S. Pat. No. 4,866,802by Stein et al. titled "Roughing Machine For Footwear (sic) UpperAssemblies And A System That Includes The Roughing Machine But TypicallyIncludes As Well Other Machines Ahead Of And Following," and U.S. Pat.No. 5,261,958 by Davies titled "Adhesive Applying Machine."

Additionally, workpiece tracking and treating systems have includedcameras for identifying a workpiece, for determining the threedimensions of a workpiece, and for applying a treatment to a workpiece.These workpieces include not only shoe components, but also include, forexample, circuit board components, various machine components, computercomponents, semiconductor components, automobile components, variouscontainers, and tools. Examples of these systems can be seen in U.S.Pat. No. 5,506,682 by Pryor titled "Robot Vision Using Targets," U.S.Pat. No. 5,280,436 by Kubota et al. titled "Method For MeasuringThree-Dimensional Position Of Object To Be Captured And Method ForCapturing The Object," U.S. Pat. No. 5,280,542 by Ozeki et al. "XYZCoordinates Measuring System," and U.S. Pat. No. 5,110,615 by Maiorca etal. titled "Method For Dispensing Viscous Materials A Constant HeightAbove A Workpiece Surface."

Despite the advancement of these systems over the years, much of thefocus of these advancements have been on more sophisticated imagingsystems such as using high speed processing for cameras and developingcomplex XYZ coordinates for identifying the unit being tracked, flaws inthe unit being tracked, or locating a portion of the unit being trackedfor assembly or other purposes such as in a production process.Nevertheless, these systems fail to provide a simplified and effectivecontrol of the treatment of the units or workpieces upon which a desiredoperation is to be accomplished.

Further, for a variety of reasons, the shoe industry has been hesitantto adopt systems for tracking and controlling shoe components. A portionof this hesitance can be attributable to the custom nature of shoes ingeneral. Shoes, for example, are manufactured in a variety of sizes andshapes. Like various clothing fashions, shoe styles change rapidlythroughout the year, and shoe manufacturers must quickly adapt to thesenew styles and trends or else risk losing significant market share.

SUMMARY OF THE INVENTION

With the foregoing in mind, the present invention advantageouslyprovides an apparatus and methods which more effectively control thetreatment process of a workpiece. The present invention alsoadvantageously provide a simplified or less complex apparatus andmethods for treating various workpieces. An apparatus and methods fortreating a workpiece is particularly applicable, for example, totreating the surface and/or peripheries of a shoe component such as anoutsole, a midsole, an insole, or an upper during a production orassembly process. The apparatus and methods of the present inventionadvantageously allow manufacturers to change, update, and adapt thetreatment of various workpieces such as shoe component to changingtrends in the marketplace for the applicable industry.

More particularly, the workpiece treating apparatus according to thepresent invention preferably has workpiece identifying means foridentifying a workpiece and workpiece treating means responsive to theworkpiece identifying means for treating a workpiece. Workpiecetreatment position determining means is positioned responsive to theworkpiece identifying means for determining the position of theworkpiece treating means along a predetermined trajectory duringtreatment of the workpiece. Because the present invention advantageouslyprovides an apparatus having the combination of the workpieceidentifying means, workpiece treatment means, and workpiece treatmentposition determining means, the apparatus and methods provide improvedcontrol over the treatment of workpieces such as during manufacturingprocesses, especially during high precision operations such asapplication of an adhesive to various shoe components.

The apparatus preferably also includes transporting means fortransporting a workpiece along a predetermined path of travel such as toand through a surface treatment work area. The workpiece, for example,can be transported into the field of vision of the camera system whichpreferably includes a vision processor. Data storing means is preferablypositioned responsive to the vision processor for storing a plurality ofpredetermined parameters of each of a plurality of workpieces. Theworkpiece can be identified, e.g., size and type, responsive to thecamera system and the data storing means. The vision processor alsopreferably determines the orientation and position of the workpiece,e.g., in the X-Y plane, relative to a predetermined coordinate systemfrom which the vision processor and the workpiece treatment means arebased.

A workpiece treating means of an apparatus for treating a workpieceaccording to the present invention preferably includes a workpiecetreatment applicator for applying a treatment to a workpiece and aworkpiece treating controller connected to the workpiece treatmentapplicator for controlling the application of the treatment to theworkpiece by the workpiece treatment applicator. The workpiece treatingcontroller preferably includes trajectory determining means fordetermining a treatment trajectory for the workpiece treatmentapplicator to thereby apply the workpiece treatment to the workpiecealong the determined trajectory. The workpiece treatment positiondetermining means, e.g., an optical sensor, preferably is positionedresponsive to the workpiece treatment applicator and the workpiecetreatment controller for continuously determining the position, e.g.,Z-plane or Z-component data, of the workpiece treatment applicator alongthe predetermined trajectory during the application of the treatment ofthe workpiece. Additionally, the workpiece treating means canadvantageously include a motion controller responsive to thetransporting means for controlling the movement of the workpiecetreating means so that it corresponds to the travel of the workpiecealong the predetermined path.

The present invention also advantageously includes methods of treating aworkpiece. A method according to the present invention preferablyincludes transporting a workpiece along a predetermined path of travel,identifying the workpiece during travel along the predetermined path,treating the workpiece being transported along the predetermined path oftravel, and continuously determining the position of a workpiecetreatment applicator along a predetermined trajectory during treatmentof the workpiece.

Another method of treating a workpiece according to the presentinvention preferably includes identifying the workpiece during travelalong a predetermined path, treating the workpiece being transportedalong the predetermined path of travel, and continuously monitoring theposition of a workpiece treatment applicator along a predeterminedtrajectory during treatment of the workpiece.

An additional method of treating a workpiece according to the presentinvention preferably includes applying a treatment to a workpiece by theuse of a workpiece treatment applicator, controlling the application ofthe treatment to the workpiece by the workpiece treatment applicator,and continuously determining the position of the workpiece treatmentapplicator along a predetermined trajectory during the application ofthe treatment of the workpiece.

Still another method of treating a workpiece such as a shoe componentaccording to the present invention is provided which preferably includesidentifying the shoe component responsive to a database of a pluralityof shoe components, applying an adhesive to a surface of the shoecomponent being transported along a predetermined path of travel, andcontinuously monitoring the position of an adhesive applicator along apredetermined trajectory during application of an adhesive to the shoecomponent.

The present invention therefore advantageously provides an apparatus andmethods for applying a treatment to a variety of workpieces of differentsizes and geometries without the necessity of fixturing or securing theworkpiece or without the necessity of modifying the apparatus. Theapparatus advantageously continuously monitors the workpiece duringtravel and the workpiece treatment applicator so that accurate andsmooth operational treatment of the workpiece is accomplished. Theapparatus also advantageously provides a real-time type system forcontrolling and precisely applying a treatment, e.g., roughing,trimming, adhesive applying, to various customize workpieces such asused in the shoe industry, as well as other industries. The apparatusand methods advantageously can take into account the unique shape, size,and configuration or geometry of each workpiece and perform a desiredtreatment function to the workpiece.

BRIEF DESCRIPTION OF THE DRAWINGS

Some of the features, advantages, and benefits of the present inventionhaving been stated, others will become apparent as the descriptionproceeds when taken in conjunction with the accompanying drawings inwhich:

FIG. 1 is an environmental view of a workpiece treating apparatusaccording to an embodiment of the present invention;

FIG. 2 is a fragmentary bottom plan view of a workpiece treatmentapplicator of a workpiece treating apparatus according to an embodimentof the present invention;

FIG. 3 is a fragmentary perspective view of a workpiece treatingapparatus illustrating transporting of a workpiece along a path oftravel according to an embodiment of the present invention;

FIG. 4 is an enlarged and fragmentary perspective view of a workpiecetreatment applicator of a workpiece treating apparatus according to thepresent invention; and

FIG. 5 is a schematic view of a workpiece treating apparatus accordingto the present invention.

DETAILED DESCRIPTION

The present invention will now be described more fully hereinafter withreference to the accompanying drawings, in which preferred embodimentsof the invention are shown. This invention may, however, be embodied inmany different forms and should not be construed as limited to theillustrated embodiments set forth herein. Rather, these illustratedembodiments are provided so that this disclosure will be thorough andcomplete, and will fully convey the scope of the invention to thoseskilled in the art. Like numbers refer to like elements throughout, andprime and double prime notation are used to indicate similar elements inalternative embodiments.

FIG. 1 illustrates an apparatus 10 and methods for treating a workpieceW which for illustrative purposes is the surface or peripheries of ashoe component, e.g., an outsole, a midsole, an insole, or an upper,during a production or assembly process. The apparatus 10 isparticularly applicable, for example, to treating the surface orperipheries of shoe components because it advantageously allowsmanufacturers to change, update, and adapt the treatment of varioussizes, shapes, or geometries of shoe components to changing trends inthe marketplace. The apparatus 10 of this embodiment preferably is forapplying adhesive or cement to components of a shoe, e.g., an athleticshoe, during the manufacturing process.

Outsoles and midsoles of athletic shoes, for example, can have variousconfigurations or geometries which can be quite difficult to accuratelyor precisely to apply adhesive thereto. As described further herein, theapparatus 10 advantageously continuously monitors both the shoecomponent W during travel and a shoe component treatment applicator 58so that accurate and smooth operational treatment of the shoe componentW is accomplished. The apparatus 10 also advantageously provides areal-time type system for controlling and precisely applying atreatment, e.g., roughing, trimming, cutting, shaping, adhesiveapplying, to various customize workpieces W such as used in the shoeindustry, as well as other industries.

As illustrated in FIGS. 1 and 3, the workpiece treating apparatus 10 fortreating a workpiece W preferably has transporting means 15, e.g., atransporter, for transporting a workpiece W along a predetermined pathof travel P. Data storing means 35, e.g., a storage device, preferablyis positioned for storing a plurality of predetermined parameters ofeach of a plurality of workpieces W. As best illustrated in FIG. 3, thetransporter 15 preferably is a conveyor or workpiece conveying systemsuch as illustrated. For example, the conveying system 15 can include aframe, a plurality of spaced-apart rolls rotatably mounted to the frame,and a conveyor belt extending across the rolls. A conveyor drive, e.g.,a motor, preferably drives the conveyor belt across the rolls in thedesired path of travel P at a desired speed.

The storage device 35 preferably is memory device or circuit that storesdata preferably in a database type format that can readily be updated,changed, or modified by a user of the apparatus 10. The storage device35 can be a separate memory device or, as understood by those skilled inthe art can be a memory of a portion of other elements of the apparatus10 of the present invention (see FIG. 5).

Workpiece identifying means 30, e.g., a workpiece identifier, ispositioned responsive to the data storing means 35 for identifying theworkpiece W during travel along the predetermined path P. Workpiecetreating means 50 is positioned adjacent the transporting means 15 andresponsive to thee workpiece identifying means 30 for treating aworkpiece W being transported along the predetermined path of travel.Workpiece treatment position determining means 60, e.g., a workpiecetreatment position determiner, is positioned responsive to the workpieceidentifying means 30 for continuously determining the position of theworkpiece treating means 50 along a predetermined trajectory duringtreatment of the workpiece W.

More particularly, the workpiece identifying means 30 preferablyincludes an imaging collector such as a video camera 31 mounted to amounting arm 32 overlying the conveyor 15 and positioned, e.g., at apredetermined angle or on a movable track, to capture a visual image ofa workpiece W such as a shoe component being transported by the conveyor15. A vision processor 33 is preferably positioned responsive to thecamera 31 for processing data representative of the visual image of theworkpiece W. The vision processor 33 can also be positioned responsiveto the data storing means 35 for comparing the visual image data to theplurality of predetermined parameters of at least one of the pluralityof workpieces W stored in the data storage means 35.

The vision processor 33 preferably is a processing circuit, amicroprocessor, or a plurality of processors, as understood by thoseskilled in the art, and includes workpiece position identifying means36, e.g., a workpiece position identifier, for identifying theorientational position of the workpiece W being transported along thepredetermined path of travel by the conveyor 15. A user interface 38,e.g., a display such as a cathode ray tube, a liquid crystal display, orlight emitting diode display and a keyboard or keypad, preferably isconnected to the vision processor 33 for providing a visual image of theworkpiece W to a user of the apparatus 10.

The workpiece treating means 50 preferably has a transport positionprocessor 52, e.g., a motion controller, positioned responsive to thetransporting means 15 for processing data representative of the positionof the workpiece W being transported along the predetermined path oftravel P. The motion controller 52 can include an optical encodermounted to the conveyor 15 and a microprocessor for processing datarepresentative of the movement of the conveyor 15 over time.

A workpiece treating controller 55, e.g., a robot controller, is alsopreferably included in the workpiece treating means 50 and preferably ispositioned responsive to the transport position processor 52, theworkpiece identifying means 30, and the workpiece treatment positiondetermining means 60 for controlling the treatment of the workpiece W. Aworkpiece treatment applicator 58 is positioned responsive to theworkpiece treating controller 55 for applying a workpiece treatment tothe workpiece W. The workpiece treating controller 55 advantageouslyincludes trajectory determining means 56, e.g., a trajectory determiner,positioned responsive to the workpiece identifying means 30 fordetermining a treatment trajectory for the workpiece treatmentapplicator 58 to thereby apply the workpiece treatment to the workpieceW along the determined trajectory.

As best illustrated in FIGS. 1 and 5, the workpiece treatment applicator58, e.g., a cement application system, preferably is connected to arobot 57 as understood by those skilled in the art. The robot 57includes a main body and an arm which connects to the main body andextends outwardly therefrom. As understood by those skilled in the art,the arm advantageously can move inwardly, outwardly, upwardly, anddownwardly and can pivot and/or rotate to a desired position responsiveto the robot controller 55. The robot 57 is also connected to the robotcontroller 55 which controls both the movement of the robot in the X, Y,and Z planes and the application of the treatment by the applicator 58to a workpiece, e.g., a shoe component, to which application of atreatment such as applying cement, roughing, or trimming is desired. Therobot 57, for example, preferably moves the applicator head 59 so as tooverlie the shoe component W at a desired distance from the surface ofthe component or in contact therewith. The robot 57 can then be moveddownstream simultaneous with or synchronous with the movement of theconveyor 15 for more accurately applying a treatment along a desiredtrajectory.

As best illustrated in FIGS. 2 and 4-5, the workpiece treatment positiondetermining means 60 preferably includes an optical sensor 65, e.g., aZ-sensor, connected to the workpiece treating means 50 and positioned tosense optical data from the workpiece W being transported by thetransporting means 15. The optical sensor 65 preferably combines a lightemitter 66 such as a laser emitter and an optical detector 67, e.g., anoptical receiver or other optical transducer, positioned closelyadjacent each other and positioned closely adjacent the head 59 of theapplicator 58. Although the optical sensor 65 is preferably a laseremitter and optical receiver, as understood by those skilled in the artother optical transceiver sensors 65, such as light emitting diode, canbe used as well according to the present invention. The optical sensor65 also includes associated drive electronics for driving the laseremitter 66 and detecting electronics for detecting optical data receivedby the optical detector 67 as understood by those skilled in the art.

Because the optical sensor 65 preferably is positioned closely adjacentthe applicator head 59 of the applicator 58 reflectance or other lightor darkness detection techniques can be used as understood by thoseskilled in the art. The sensor 65 can sense or track the application ofa stream or bead of adhesive, can sense a change in contour, e.g.,edges, recesses, inclines, or can sense detection of variation in shadesof light, e.g., shadows, to adaptively and accurately move theapplicator head 58 to the desired location. The optical sensor 65thereby advantageously provides optical data, e.g., a position feedbackdevice for real-time location, to the robotic controller 55 for thepositional location, i.e., a Z-dimension or Z-plane data, of the head 59of the applicator 58 during a treatment process. This allows thecontroller 55 to continuously modify or update the actual position ofthe head 58 with the desired position of the head 58 based upon thedetermined trajectory for the treatment.

The optical sensor 65 in combination with the imaging system, e.g.,camera 31, also advantageously provides a depth of field sensing systemso that the applicator head 58 can be positioned at a predetermineddistance from the surface of the workpiece W, trace peripheries of aworkpiece W, and/or continuously be positioned a predetermined distancefrom an edge of a workpiece for precise application of a treatment tothe surface of the workpiece, e.g., applying adhesive. In the shoemanufacturing industry, for example, this can provide reduced adhesiveas well as shoe component waste and reduced errors or reworks. Becausethe shoe styles and types change rapidly, much of the shoe manufacturingwork is conventionally labor intensive. Therefore, the apparatus 10 canadvantageously reduce labor costs by automating processes which wereotherwise performed by several laborers.

In operation, and as illustrated in FIGS. 1-5, a plurality of workpiecesW, e.g., shoe components, are individually placed onto the movingtransporting means 15 by a person or by a loading device. Thetransporting means 15 then transports the workpieces W to and through asurface treatment work area. A workpiece W is then transported into thefield of vision of the camera 31, and the vision processor 33 canidentify the size, shape, and type of workpiece W responsive to thecamera 31 and the stored workpiece data in the data storing means 35.The vision processor 33 also preferably determines the orientation andposition of the workpiece W in the X-Y plane relative to a predeterminedcoordinate system from which the vision processor 33 and the workpiecetreatment controller 55 are based. The coordinate system is preferablydisplayed on the user interface 38 to the user so that effectivetracking or monitoring of the workpiece W by a system user can occur.

After the workpiece W is located, the vision processor 33 determines aplurality of data points representative of the perimeter of theworkpiece W and, if desired or required, also representative of interiorportions of the workpiece W. According to the apparatus 10 of thepresent invention, however, this step does not have to occur afteridentifying the workpiece W. In other words, the apparatus 10advantageously can determine points around the perimeter of an unknownworkpiece W and perform a function on the unknown workpiece based uponthese determined plurality of data points of the perimeter of theworkpiece W.

The vision processor 33 communicates these plurality of points to theworkpiece treatment or robotic controller 55. The workpiece treatmentcontroller 55 calculates an interpolation or trajectory responsive tothese plurality of data points for treating the workpiece W, e.g.,applying adhesive, roughing the surface, cutting, or trimming theworkpiece W, responsive to the plurality of points to create a smoothtrajectory path around and within the workpiece W.

For example, to accomplish this initial calculation or determination bythe vision processor 33, once the workpiece W is located the center ofmass of the workpiece W is calculated. A principal axis of orientationis determined and an X-Y coordinate system is attached or establishedfor the workpiece W. Because the workpiece W is recognized in atwo-dimensional plane by image or light contrast techniques asunderstood by those skilled in the art, the center of mass will be as ifthe workpiece W were flat. The part can then be compared at that time,if desired, to determine if it corresponds with a known workpiece in adatabase. Preferably, however, a plurality of edge points, e.g., aplurality of data points around the perimeter, are located for theworkpiece W. Also, if the workpiece W has one or more openings or holestherein, then a plurality of edge points around the opening(s) are alsolocated. These plurality of edge points are then converted or referencedto a real or actual coordinate system of the workpiece environment andsystem. This data, e.g., workpiece identity and plurality of perimeteror edge data points, can then be communicated to the workpiece treatmentcontroller 55.

Once the workpiece treatment controller 55 receives this data, forexample, the data representative of the plurality of edge points can beused to calculate a desired trajectory. This desired trajectoryadvantageously can also be modified or added to through the userinterface 38 by a system user. This modification through the userinterface 38 can allow workpieces W having unique or different shapes toalso be readily handled for the desired function, e.g., adhesiveapplying, cutting, trimming, etc., by the apparatus 10. The workpiecetreatment controller 55 preferably also monitors the movement of thetransporting means 15 so that the calculated trajectory to accomplish adesired function, e.g., application of adhesive, can be effectivelyexecuted during the movement of the transporting means 15 (e.g., acontinuous and smooth production process).

After all of the calculations are completed, the workpiece treatmentcontroller 55 moves the workpiece treatment applicator 58 by use of therobot so that the workpiece treatment head 59, e.g., a distal endportion, of the workpiece treatment applicator 58 overlies the workpieceW being located, tracked, and/or inspected. The optical sensor 65 thenprovides data to the workpiece treatment controller 55 related to theposition of the head 59 relative to the workpiece W (i.e., a Z-axis orcomponent) for a preselected workpiece treatment, e.g., application ofan adhesive. The workpiece treatment is then applied to the desired areaof the workpiece W.

The optical sensor 65 preferably is selected base upon desired opticalcharacteristics of the optical sensor 65 which accomplishes a desiredworkpiece treatment function. For example, the optical sensor 65 usedpreferably provides a desired output, i.e., about zero, when the sensor65 is at a predetermined distance from the surface of the workpiece W.The robot, in effect, initially moves the workpiece treatment applicator58, and the optical sensor 65 positioned adjacent thereto, downwardtoward the surface of the workpiece W until the output of the sensor 65is zero. No predetermined presumptions of a third dimension, e.g.,height, depth, or up-and-down motion of the workpiece treatmentapplicator 58, are made prior to use of the optical sensor 65. When thisdownward movement of the workpiece treatment applicator 58 occurs, thepredetermined trajectory is initiated such as following the perimeter ofan outsole of a shoe for applying an adhesive material in smooth patternand a predetermined distance from the outer peripheries or edges of theoutsole. The optical sensor 65 thereby provides a Z-component or Z-planedata for applying the adhesive. By monitoring the output of the opticalsensor 65 so as to maintain the output close to or at zero, theworkpiece treatment applicator 58 can be accurately maintained at thedesired working distance for applying the adhesive material. Thisworking distance can be set based upon the geometry and optics of theoptical sensor 65 to meet the desired treatment function or application.In effect, the optical sensor 65 advantageously provides a continuousfeedback of real time Z-component or Z-plane data, e.g., up and downmotion, for the workpiece treatment applicator 58 of the apparatus 10.

During the workpiece treatment, the optical sensor 65 continuouslymonitors, and the workpiece treatment controller 55 responsivelyadjusts, the position of the applicator head 59, and the workingdistance and position of the applicator head 59 are continuouslymaintained. After completion of the calculated trajectory, the adhesiveis no longer applied, and the workpiece treatment applicator 58responsively returns to a neutral position to await the next workpiece Wwhich can be an identical component traveling along the path of travel Por advantageously can be a different component have a different size,shape, or geometry.

As illustrated in FIGS. 1-5, and as described above, the presentinvention also includes method of treating workpieces W such a shoecomponents. A method according to the present invention preferablyincludes transporting a workpiece W along a predetermined path of travelP, identifying the workpiece W during travel along the predeterminedpath P, treating the workpiece W being transported along thepredetermined path of travel P, and continuously determining theposition of a workpiece treatment applicator 58 along a predeterminedtrajectory during treatment of the workpiece W.

The step of identifying the workpiece W preferably includes capturing avisual image of the workpiece W being transported, processing datarepresentative of the visual image of the workpiece W, and comparing thevisual image data to a plurality of predetermined parameters of at leastone of a plurality of workpieces W. The processing step preferablyincludes identifying the orientational position of the workpiece W beingtransported along the predetermined path of travel P.

The step of determining the position of a workpiece applicatorpreferably includes sensing optical data from the workpiece W beingtransported. The step of treating the workpiece W includes processingdata representative of the position of the workpiece W being transportedalong the predetermined path of travel P, controlling the treatment ofthe workpiece W, and applying a workpiece treatment to the workpiece W.The step of controlling the treatment of the workpiece W includes thestep of determining a treatment trajectory for a workpiece treatmentapplicator 58 to thereby apply the workpiece treatment to the workpieceW along the determined trajectory.

Another method of treating a workpiece W according to the presentinvention preferably includes identifying the workpiece W during travelalong a predetermined path P, treating the workpiece W being transportedalong the predetermined path of travel P, and continuously monitoringthe position of a workpiece treatment applicator 58 along apredetermined trajectory during treatment of the workpiece W. The stepof monitoring the position of a workpiece applicator 58 preferablyincludes sensing optical data from the workpiece W being transported anddetermining the position of the workpiece treatment applicator 58 duringtreatment of the workpiece W.

An additional method of treating a workpiece W according to the presentinvention preferably includes applying a treatment to a workpiece W bythe use of a workpiece treatment applicator 58, controlling theapplication of the treatment to the workpiece W by the workpiecetreatment applicator 58, and continuously determining the position ofthe workpiece treatment applicator 58 along a predetermined trajectoryduring the application of the treatment of the workpiece W. Thecontrolling step preferably includes determining a treatment trajectoryfor the workpiece treatment applicator 58 to thereby apply the workpiecetreatment to the workpiece W along the determined trajectory.

Still another method of treating a workpiece W such as a shoe componentaccording to the present invention is provided which preferably includesidentifying the shoe component responsive to a database 35 of aplurality of shoe components, applying an adhesive to a surface of theshoe component being transported along a predetermined path of travel P,and continuously monitoring the position of an adhesive applicator 58along a predetermined trajectory during application of an adhesive tothe shoe component. The shoe component can be located with an imagingcollector such as a camera during travel along a predetermined path andinspected during travel along the predetermined path P. This method canalso include the additional steps of the other various methods asdescribed herein above.

In the drawings and specification, there have been disclosed a typicalpreferred embodiment of the invention, and although specific terms areemployed, the terms are used in a descriptive sense only and not forpurposes of limitation. The invention has been described in considerabledetail with specific reference to these illustrated embodiments. It willbe apparent, however, that various modifications and changes can be madewithin the spirit and scope of the invention as described in theforegoing specification and as defined in the appended claims.

That which is claimed:
 1. A workpiece treating apparatus for treating aworkpiece, the workpiece treating apparatus comprising:transportingmeans for transporting a workpiece along a predetermined path of travel;workpiece identifying means for identifying at least parameters of theworkpiece during travel along the predetermined path; workpiece treatingmeans positioned adjacent said transporting means and responsive to saidworkpiece identifying means for treating a workpiece being transportedalong the predetermined path of travel; and workpiece treatment positiondetermining means responsive to said workpiece identifying means forcontinuously determining the position of said workpiece treating meansalong a predetermined trajectory during treatment of the workpiece. 2.An apparatus as defined in claim 1, wherein said image collector of saidworkpiece identifying means comprises an imaging collector positioned tocapture a visual image of a workpiece being transported by saidtransporting means, and wherein said workpiece identifying means furtherincludes a processor responsive to said imaging collector for processingdata representative of the image of the workpiece and comparing theimage data to the plurality of predetermined parameters of at least oneof the plurality of workpieces.
 3. An apparatus as defined in claim 2,wherein said processor includes workpiece position identifying means foridentifying the orientational position of the workpiece beingtransported along the predetermined path of travel by said transportingmeans.
 4. An apparatus as defined in claim 1, wherein said workpiecetreatment position determining means comprises an optical sensorconnected to said workpiece treating means and positioned to senseoptical data from the workpiece being transported by said transportingmeans.
 5. An apparatus as defined in claim 1, wherein said workpiecetreating means comprises a transport position processor responsive tosaid transporting means for processing data representative of theposition of the workpiece being transported along the predetermined pathof travel, a workpiece treating controller responsive to said transportposition processor, said workpiece identifying means, and said workpiecetreatment position determining means for controlling the treatment ofthe workpiece, and a workpiece treatment applicator responsive to saidworkpiece treating controller for applying a workpiece treatment to theworkpiece.
 6. An apparatus as defined in claim 5, wherein said workpiecetreating controller includes trajectory determining means responsive tosaid workpiece identifying means for determining a treatment trajectoryfor said workpiece treatment applicator to thereby apply the workpiecetreatment to the workpiece along the determined trajectory.
 7. Anapparatus as defined in claim 5, wherein said transporting meanscomprises a conveyor, and wherein the workpiece comprises a component ofa shoe.
 8. A workpiece treating apparatus for treating a workpiece, theworkpiece treating apparatus comprising:a transporter for transporting aworkpiece along a predetermined path of travel; a storage device forstoring a plurality of predetermined parameters of each of a pluralityof workpieces; a workpiece identifier responsive to said storage devicefor identifying the workpiece during travel along the predeterminedpath; a workpiece treatment applicator positioned adjacent saidtransporter and responsive to said workpiece identifier for applying atreatment to a workpiece being transported along the predetermined pathof travel; and a workpiece treatment position determiner responsive tosaid workpiece identifier for continuously determining the position ofsaid workpiece treatment applicator along a predetermined trajectoryduring treatment of the workpiece.
 9. An apparatus as defined in claim8, wherein said workpiece identifier comprises a camera positioned tocapture a visual image of a workpiece being transported by saidtransporter, a vision processor responsive to said camera for processingdata representative of the visual image of the workpiece and comparingthe visual image data to the plurality of predetermined parameters of atleast one of the plurality of workpieces, and a user interfaceresponsive to said vision processor for providing a visual image of theworkpiece to a user thereof.
 10. An apparatus as defined in claim 9,wherein said vision processor includes workpiece position identifier foridentifying the orientational position of the workpiece beingtransported along the predetermined path of travel by said transporter.11. An apparatus as defined in claim 10, wherein said workpiecetreatment position determiner comprises an optical sensor connected tosaid workpiece treatment applicator and positioned to sense optical datafrom the workpiece being transported by said transporter.
 12. Anapparatus as defined in claim 11, further comprising a transportposition processor responsive to said transporter for processing datarepresentative of the position of the workpiece along the predeterminedpath of travel, and a workpiece treating controller responsive to saidtransport position processor, said workpiece identifier, and saidworkpiece treatment position determiner for controlling the treatment ofthe workpiece.
 13. An apparatus as defined in claim 12, wherein saidworkpiece treating controller includes a trajectory determinerresponsive to said workpiece identifier for determining a treatmenttrajectory for said workpiece treatment applicator to thereby apply theworkpiece treatment to the workpiece along the determined trajectory.14. An apparatus as defined in claim 13, wherein said transportercomprises a conveyor, and wherein the workpiece comprises a component ofa shoe.
 15. A workpiece treating apparatus for treating a workpiece, theworkpiece treating apparatus comprising:workpiece identifying means foridentifying a workpiece; workpiece treating means responsive to saidworkpiece identifying means for treating a workpiece; and workpiecetreatment position determining means responsive to said workpieceidentifying means for determining the position of said workpiecetreating means along a predetermined trajectory during treatment of theworkpiece.
 16. An apparatus as defined in claim 15, wherein saidworkpiece identifying means comprises a camera positioned to capture avisual image of a workpiece, a vision processor responsive to saidcamera for processing data representative of the visual image of theworkpiece and comparing the visual image data to a plurality ofpredetermined parameters of at least one workpiece.
 17. An apparatus asdefined in claim 16, wherein said vision processor includes workpieceposition identifying means for identifying the orientational position ofa workpiece.
 18. An apparatus as defined in claim 17, wherein saidworkpiece treatment position determining means comprises an opticalsensor connected to said workpiece treating means and positioned tosense optical data from the workpiece.
 19. An apparatus as defined inclaim 18, wherein said workpiece treating means includes a workpiecetreating controller responsive to said workpiece identifying means andsaid workpiece treatment position determining means for controlling thetreatment of the workpiece and a workpiece treatment applicatorresponsive to said workpiece treating controller for applying aworkpiece treatment to the workpiece.
 20. An apparatus as defined inclaim 19, wherein said workpiece treating controller includes trajectorydetermining means responsive to said workpiece identifying means fordetermining a treatment trajectory for said workpiece treatmentapplicator to thereby apply the workpiece treatment to the workpiecealong the determined trajectory.
 21. A workpiece treating apparatus fortreating a workpiece, the workpiece treating apparatus comprising:aworkpiece treatment applicator for applying a treatment to a workpiece;a workpiece treating controller connected to said workpiece treatmentapplicator for controlling the application of the treatment to theworkpiece by said workpiece treatment applicator; and workpiecetreatment position determining means responsive to said workpiecetreatment applicator and said workpiece treatment controller forcontinuously determining the position of said workpiece treatmentapplicator along a predetermined trajectory during the application ofthe treatment of the workpiece.
 22. An apparatus as defined in claim 21,wherein said workpiece treatment position determining means comprises anoptical sensor connected to said workpiece treating means and positionedto sense optical data from the workpiece.
 23. An apparatus as defined inclaim 22, wherein said workpiece treating controller includes trajectorydetermining means for determining a treatment trajectory for saidworkpiece treatment applicator to thereby apply the workpiece treatmentto the workpiece along the determined trajectory.
 24. A shoe componenttreating apparatus for treating a component of a shoe, the shoecomponent treating apparatus comprising:a conveyor for conveying a shoecomponent along a predetermined path of travel; a memory device forstoring a plurality of predetermined parameters of each of a pluralityof shoe components; component identifying means responsive to saidmemory device for identifying a shoe component during travel along thepredetermined path; component treating means positioned adjacent saidconveyor and responsive to said component identifying means for treatinga shoe component being transported along the predetermined path oftravel; and component treatment position determining means responsive tosaid component identifying means for continuously determining theposition of said component treating means along a predeterminedtrajectory during treatment of the shoe component.
 25. An apparatus asdefined in claim 24, wherein said component identifying means comprisesa video camera positioned to capture a visual image of a shoe componentbeing conveyed by said conveyor and a vision processor responsive tosaid video camera for processing data representative of the visual imageof the shoe component and comparing the visual image data to theplurality of predetermined parameters of at least one of the pluralityof shoe components.
 26. An apparatus as defined in claim 25, whereinsaid vision processor includes component position identifying means foridentifying the orientational position of the shoe component beingconveyed along the predetermined path of travel by said conveyor.
 27. Anapparatus as defined in claim 24, wherein said component treating meanscomprises a conveyor position processor responsive to said conveyor forprocessing data representative of the position of the shoe componentalong the predetermined path of travel, a component treating controllerresponsive to said conveyor position processor, said componentidentifying means, and said component treatment position determiningmeans for controlling the treatment of the shoe component, and acomponent treatment applicator responsive to said component treatingcontroller for applying a shoe component treatment to the shoecomponent.
 28. An apparatus as defined in claim 24, wherein saidcomponent treatment position determining means comprises an opticalemitter and an optical detector connected to a distal end of saidcomponent treatment applicator and responsive to said component treatingcontroller for responsively monitoring the position of the distal end ofsaid component treatment applicator during treatment of the shoecomponent.
 29. An apparatus as defined in claim 27, wherein saidcomponent treating controller includes trajectory determining meansresponsive to said component identifying means for determining atreatment trajectory for said component treatment applicator to therebyapply the shoe component treatment to the shoe component along thedetermined trajectory.
 30. A method of treating a workpiece, the methodcomprising:transporting a workpiece along a predetermined path oftravel; identifying the workpiece during travel along the predeterminedpath; treating the workpiece being transported along the predeterminedpath of travel; and continuously determining the position of a workpiecetreatment applicator along a predetermined trajectory during treatmentof the workpiece.
 31. A method as defined in claim 30, wherein the stepof identifying the workpiece includes the steps of capturing a visualimage of the workpiece being transported, processing data representativeof the visual image of the workpiece, and comparing the visual imagedata to a plurality of predetermined parameters of at least one of aplurality of workpieces.
 32. A method as defined in claim 31, whereinthe processing step includes identifying the orientational position ofthe workpiece being transported along the predetermined path of travel.33. A method as defined in claim 30, wherein the step of determining theposition of a workpiece applicator includes the step of sensing opticaldata from the workpiece being transported.
 34. A method as defined inclaim 30, wherein the step of treating the workpiece includes the stepof processing data representative of the position of the workpiece beingtransported along the predetermined path of travel, controlling thetreatment of the workpiece, and applying a workpiece treatment to theworkpiece.
 35. A method as defined in claim 34, wherein the step ofcontrolling the treatment of the workpiece includes the step ofdetermining a treatment trajectory for a workpiece treatment applicatorto thereby apply the workpiece treatment to the workpiece along thedetermined trajectory.
 36. A method of treating a shoe component, themethod comprising:identifying the shoe component responsive to adatabase of a plurality of shoe components; applying an adhesive to asurface of the shoe component being transported along a predeterminedpath of travel; and continuously monitoring the position of an adhesiveapplicator along a predetermined trajectory during application of anadhesive to the shoe component.
 37. A method as defined in claim 36,further comprising locating a shoe component with a camera during travelalong a predetermined path and inspecting the shoe component duringtravel along the predetermined path.
 38. A method as defined in claim37, wherein the step of identifying the shoe component includes thesteps of capturing a visual image of the shoe component beingtransported, processing data representative of the visual image of theshoe component, and comparing the visual image data to a plurality ofpredetermined parameters of at least one of a plurality of shoecomponents.
 39. A method as defined in claim 38, wherein the processingstep includes identifying the orientational position of the shoecomponent being transported along the predetermined path of travel. 40.A method as defined in claim 39, wherein the step of monitoring theposition of the shoe component treatment applicator includes the stepsof sensing optical data from the shoe component being transported anddetermining the position of the shoe component treatment applicatorduring treatment of the shoe component.
 41. A method as defined in claim40, wherein the step of applying adhesive to the shoe component includesthe step of processing data representative of the position of the shoecomponent being transported along the predetermined path of travel andcontrolling the application of the adhesive to the shoe component.
 42. Amethod as defined in claim 41, wherein the step of controlling theapplication of the adhesive to the shoe component includes the step ofdetermining a treatment trajectory for the shoe component treatmentapplicator to thereby apply the adhesive to a surface of the shoecomponent along the determined trajectory.
 43. A method of treating aworkpiece, the method comprising:identifying the workpiece during travelalong a predetermined path; treating the workpiece being transportedalong the predetermined path of travel; and continuously monitoring theposition of a workpiece treatment applicator along a predeterminedtrajectory during treatment of the workpiece.
 44. A method as defined inclaim 43, wherein the step of identifying the workpiece includes thesteps of capturing a visual image of the workpiece being transported,processing data representative of the visual image of the workpiece, andcomparing the visual image data to a plurality of predeterminedparameters of at least one of a plurality of workpieces.
 45. A method asdefined in claim 44, wherein the processing step includes identifyingthe orientational position of the workpiece being transported along thepredetermined path of travel.
 46. A method as defined in claim 45,wherein the step of monitoring the position of a workpiece applicatorincludes the steps of sensing optical data from the workpiece beingtransported and determining the position of the workpiece treatmentapplicator during treatment of the workpiece.
 47. A method as defined inclaim 46, wherein the step of treating the workpiece includes the stepof processing data representative of the position of the workpiece beingtransported along the predetermined path of travel, controlling thetreatment of the workpiece, and applying a workpiece treatment to theworkpiece.
 48. A method as defined in claim 47, wherein the step ofcontrolling the treatment of the workpiece includes the step ofdetermining a treatment trajectory for a workpiece treatment applicatorto thereby apply the workpiece treatment to the workpiece along thedetermined trajectory.
 49. A method of treating a workpiece, the methodcomprising:applying a treatment to a workpiece by the use of a workpiecetreatment applicator; controlling the application of the treatment tothe workpiece by the workpiece treatment applicator; and continuouslydetermining the position of the workpiece treatment applicator along apredetermined trajectory during the application of the treatment of theworkpiece.
 50. A method as defined in claim 49, wherein the continuouslydetermining step includes sensing the position of the workpiecetreatment application by an optical sensor.
 51. A method as defined inclaim 49, wherein the controlling the application step includesdetermining a treatment trajectory for the workpiece treatmentapplicator to thereby apply the workpiece treatment to the workpiecealong the determined trajectory.